A modeling system trains computer models for an autonomous control system using computer simulated models of objects. The objects may be vehicles, and the computer simulated models may be virtual models of vehicles simulated by computer software. Since the vehicle models are computer simulated, various characteristics of the vehicle can be easily obtained by the modeling system. The various types of data may include geometric information of the vehicle, views of the vehicle from different perspectives, and the like. The modeling system can easily generate and label a large amount of training data using the characteristics of the computer simulated vehicles. The modeling system can use the training data to train computer models for the autonomous control system.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A computer-implemented method of training an object detection model, comprising: obtaining a training dataset of images that represent a set of computer simulated vehicles with a known set of characteristics, the characteristics including geometric information of the computer simulated vehicles in the images; obtaining a training set of coordinates for the images that represent 3-D bounding boxes of the computer simulated vehicles, the 3-D bounding boxes enclosing an outer boundary of the computer simulated vehicles, and the training set of coordinates for the 3-D bounding boxes determined based on the geometric information of the computer simulated vehicles; and training a set of parameters of the object detection model using the training dataset of images, the training comprising repeatedly performing iterations of: generating a set of estimated coordinates by applying the object detection model with an estimated set of parameters to the training dataset of images, determining a loss function indicating a difference between the set of estimated coordinates and the training set of coordinates for the computer simulated vehicles, and updating the set of parameters of the object detection model to reduce the loss function.
2. The computer-implemented method of claim 1 , wherein the set of computer simulated vehicles are computer-aided design (CAD) generated models of vehicles, or computer simulated light detection and ranging (LIDAR) models of vehicles.
3. The computer-implemented method of claim 1 , further comprising: obtaining a training set of orientations for the computer simulated vehicles that represent displacement of the computer simulated vehicles with respect to a reference axis, wherein training the set of parameters further comprises: generating a set of estimated orientations by applying the object detection model with the estimated set of parameters to the training dataset of images, and wherein the loss function further indicates a difference between the set of estimated orientations and the training set of orientations for the computer simulated vehicles.
4. The computer-implemented method of claim 1 , further comprising: obtaining a training set of categories for the computer simulated vehicles that represent classifications of the computer simulated vehicles with respect to their structure or functions, wherein training the set of parameters further comprises: generating a set of estimated categories by applying the object detection model with the estimated set of parameters to the training dataset of images, and wherein the loss function further indicates a difference between the set of estimated categories and the training set of categories for the computer simulated vehicles.
5. The computer-implemented method of claim 1 , further comprising: obtaining a new image of a vehicle in a scene; generating a predicted set of coordinates of the vehicle by applying the object detection model to the new image, the predicted set of coordinates representing an estimated 3-D bounding box enclosing the vehicle; and generating a transformed set of coordinates from the predicted set of coordinates, the transformed set of coordinates representing a transformed 3-D bounding box of the vehicle as if the vehicle was viewed from a bird's-eye perspective.
6. The computer-implemented method of claim 5 , further comprising: estimating a width of the vehicle from the transformed 3-D bounding box of the vehicle; and providing the estimated width to an autonomous control system.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
March 19, 2019
October 12, 2021
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